A more sophisticated structure is proposed to add control and morphological freedom into this design. We propose to use Feedback-Driven Components (FDC), a small and low-power actuator, to adjust the length of some links as shown in Fig. REF . The change in armwing morphology results in a change in the end effector trajectories, as shown in Fig. REF -D. This change affects the aerodynamic forces generated by the wing, therefore we can facilitate control through a change body morphology using simple and low power actuation components. This framework is relevant to the concept of Mechanical Intelligence, where a simple control action can influence and achieve complex manipulation in the body morphology which is commonly seen in nature [1]}. We refer to this control framework as Morphing via Integrated Mechanical Intelligence and Control (MIMIC) and we will show the feasibility of closed loop feedback using this framework through simulation in the next Section .
